Proceedings on Automation in Medical Engineering
Vol. 3 No. 1 (2026): Proc AUTOMED
https://doi.org/10.18416/AUTOMED.2026.2515

18th Interdisciplinary AUTOMED Symposium in Collaboration with the TC Medical Robotics, 2515

Single-filament spatial calibration for robotic ultrasound

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Jonas Osburg (Institute of Robotics and Cognitive Systems, University of Luebeck), Ralf Bruder (Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck, Germany), Floris Ernst (Institute for Robotics and Cognitive Systems, University of Luebeck, Luebeck, Germany), Almut Kalz (Kurt-Semm-Zentrum & Kurt-Semm-Akademie, UKSH, Campus Kiel, Germany)

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Abstract

We present a straightforward spatial calibration method for robotic ultrasound using only a single nylon filament as a geometric reference. By tracking the probe motion and extracting the filament intersection in each 2D ultrasound frame, the rigid transformation between the ultrasound image and the robot end-effector is estimated through a point-to-line optimization. The procedure requires no specialized phantoms and can be performed within minutes, making it well suited for automated robotic ultrasound applications.

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